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Remap keypad bindings #155

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Merged
merged 7 commits into from
Apr 18, 2024
Merged

Remap keypad bindings #155

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f4ebacf
intaking work, arm fix, sim fix
5690Programmers Apr 18, 2024
1113e56
more binding work
5690Programmers Apr 18, 2024
8e54059
bindingssss
5690Programmers Apr 18, 2024
6de6eb5
hopefully final bindings
5690Programmers Apr 18, 2024
eb793f2
guys, that wasn't the last one
having11 Apr 18, 2024
bd3b32f
Merge branch 'bug/general-fixes' of https://github.com/SubZero-Roboti…
having11 Apr 18, 2024
5a55ddc
Merge branch 'main' of https://github.com/SubZero-Robotics/2024-Comma…
having11 Apr 18, 2024
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106 changes: 49 additions & 57 deletions src/main/cpp/RobotContainer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,105 +204,97 @@ void RobotContainer::ConfigureButtonBindings() {

#ifndef TEST_SWERVE_BOT
void RobotContainer::ConfigureAutoBindings() {
// Maps to 9 on keyboard
m_operatorController.A().OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ScoringSpeaker;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 8 on keyboard
m_operatorController.B().OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ScoringSubwoofer;
m_state.SetDesiredState();
}
}).ToPtr());
// Maps to / on keyboard
// m_operatorController.Button(0).OnTrue(
// TODO: GOTO APPROX SCORING
// );

// Maps to NUM LOCK on keyboard
m_operatorController.Button(3).OnTrue(
// GOTO SRC
frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState = RobotState::SourceCenter;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 7 on keyboard
m_operatorController.X().OnTrue(frc2::InstantCommand([this] {
m_operatorController.Button(4).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ScoringAmp;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 4 on keyboard
m_operatorController.Y().OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::AutoSequenceAmp;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 1 on keyboard
m_operatorController.LeftBumper().OnTrue(frc2::InstantCommand([this] {
// Maps to 8 on keyboard
m_operatorController.Button(5).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ClimbStageLeft;
RobotState::ScoringSpeaker;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 2 on keyboard
// m_operatorController.RightBumper().OnTrue(
// frc2::InstantCommand([this] {
// if (!m_state.m_active) {
// m_state.m_currentState = RobotState::ClimbStageCenter;
// m_state.SetDesiredState();
// }
// }).ToPtr());
m_operatorController.RightBumper().OnTrue(
m_rightClimb.MoveToPositionAbsolute(18_in));
// Maps to 9 on keyboard
m_operatorController.Button(6).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ScoringSubwoofer;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 3 on keyboard
m_operatorController.LeftStick().OnTrue(frc2::InstantCommand([this] {
// Maps to 4 on keyboard
m_operatorController.Button(7).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::ClimbStageRight;
RobotState::AutoSequenceAmp;
m_state.SetDesiredState();
}
}).ToPtr());

m_operatorController.Button(15).OnTrue(frc2::InstantCommand([this] {
// Maps to 5 on keyboard
m_operatorController.Button(8).OnTrue(
frc2::InstantCommand([this] { m_drive.ZeroHeading(); }).ToPtr());

// Maps to 6 on keyboard
m_operatorController.Button(9).OnTrue(
m_rightClimb.MoveToPositionAbsolute(18_in).AlongWith(
m_leftClimb.MoveToPositionAbsolute(18_in)));

// Maps to 1 on keyboard
m_operatorController.Button(10).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::SourceLeft;
RobotState::ClimbStageLeft;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 2 on keyboard
m_operatorController.Button(16).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::SourceCenter;
RobotState::ClimbStageCenter;
m_state.SetDesiredState();
}
}).ToPtr());

// Maps to 3 on keyboard
m_operatorController.Button(17).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::SourceRight;
RobotState::ClimbStageRight;
m_state.SetDesiredState();
}
}).ToPtr());

m_operatorController.Button(18).OnTrue(frc2::InstantCommand([this] {
if (!m_state.m_active) {
m_state.m_currentState =
RobotState::Funni;
m_state.SetDesiredState();
}
}).ToPtr());

m_operatorController.Button(20).OnTrue(
frc2::InstantCommand([this] { m_drive.ZeroHeading(); }).ToPtr());
// Maps to 0 on keyboard
// m_operatorController.Button(17).OnTrue(
// TODO: FEED SCORING COMMAND
// );
}
#endif

Expand Down
2 changes: 1 addition & 1 deletion src/main/cpp/subsystems/StateSubsystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,7 +258,7 @@ bool StateSubsystem::IsControllerActive() {
active |= m_driverController.GetPOV(i) != -1;
}
// Check the operator's "stop" button
active |= m_operatorController.RightStick().Get();
active |= m_operatorController.Button(19).Get();
if (active) {
ConsoleWriter.logVerbose("StateSubsystem", "Controller interrupt! %s", "");
}
Expand Down
2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Note 2 to Speaker.path
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
"eventMarkers": [
{
"name": "New Event Marker",
"waypointRelativePos": 0.0,
"waypointRelativePos": 0.2,
"command": {
"type": "parallel",
"data": {
Expand Down
5 changes: 3 additions & 2 deletions src/main/include/Constants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -376,7 +376,7 @@ constexpr double kVectorSpeed = -0.4;

// These need to be different
// TODO: CHANGE TO VELOCITY RATHER THAN % OUTPUT
constexpr double kAmpLowerSpeed = -0.254 * 1.4; // .264
constexpr double kAmpLowerSpeed = -0.254 * 1.9; // .264
constexpr double kAmpUpperSpeed = -0.168 * 1.4; // .278

// These should match
Expand Down Expand Up @@ -486,7 +486,8 @@ constexpr double kRotationHomingSpeed = .15;
constexpr int kArmGearRatio = 125;
constexpr units::degree_t kArmRelativeDistancePerRev = 360_deg * (1 / 8.75);
constexpr units::degree_t kArmAbsoluteDistancePerRev = 360_deg;
constexpr units::degree_t kAmpRotation = 190_deg;
constexpr units::degree_t kAmpRotation = 142_deg;
constexpr units::degree_t kMaxRotation = 190_deg;
constexpr units::degree_t kHomeRotation = 10_deg;
constexpr units::degrees_per_second_t kDefaultVelocity = 10_deg_per_s;
constexpr double kVelocityScalar = 1.0;
Expand Down
2 changes: 1 addition & 1 deletion src/main/include/subsystems/ArmSubsystem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ class ArmSubsystem : public RotationalSingleAxisSubsystem<
{// Min distance
ArmConstants::kHomeRotation,
// Max distance
ArmConstants::kAmpRotation,
ArmConstants::kMaxRotation,
// Distance per revolution of relative encoder
ArmConstants::kArmRelativeDistancePerRev,
// Distance per revolution of absolute encoder
Expand Down